Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

Diff: main.cpp

Revision:
68:f69a4f5bc93e
Parent:
65:6e1fdbfae57b
--- a/main.cpp	Sun Jan 29 07:58:52 2017 +0000
+++ b/main.cpp	Sun Feb 05 08:33:36 2017 +0000
@@ -164,5 +164,8 @@
     BREMSInit(&io, &read, &foc, &control, false);
     
     for (;;) {
+        io.pc->printf("%d,%d,%d,%d,%d,%d,%d,%d\n", (int) read.w, (int) control.d_ref, (int) control.d_filtered, (int) control.q_ref, (int) control.q_filtered, (int) (255 * io.throttle_in->get_throttle()), 
+                        (int) (255 * control.d_integral), (int) (255 * control.q_integral));
+        wait(0.01);
     }
 }
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